On the basis of dynamics analysis of a hydraulic excavator’s arm, when the hydraulic cylinder worked at a low and steady speed, a dynamics model, which was independent on the cylinder friction, was obtained. The model was applied on the off-line parametric identification of the hydraulic excavator’s arm. According to the classical frictional model, an experimental on-line parametric identification was carried out on the excavator. The validation of the method is proved through the experimental data. The results provide a basis for the modeling the real-time simulation system of the excavator.

在液压挖掘机上车机械臂的动力学分析基础上,提出利用液压缸平稳低速运行时的动力学特性建立与摩擦力无关的挖掘机臂动力学模型,并运用该模型通过离线辨识确定臂的结构参数。基于经典摩擦力模型建立液压缸的辨识模型,通过在线辨识实验得到了液压缸的摩擦力参数,为深入研究液压挖掘机的动力学特性、建立可靠的系统仿真模型及实现臂运动的精确控制提供了依据。

液压挖掘机, 动力学模型, 液压缸摩擦, 参数辨识